Publication detail

Numerical Aspects of Inertial Navigation

PAPEŽ, M. PIVOŇKA, P.

Original Title

Numerical Aspects of Inertial Navigation

Czech Title

Numerické aspekty inerciální navigace

English Title

Numerical Aspects of Inertial Navigation

Type

conference paper

Language

en

Original Abstract

This paper presents an investigation of the possibility of using the fixed-point arithmetic in the inertial navigation systems which use the local level navigation frame mechanization equations. Two square root filtering methods, the Potter's square root Kalman filter and UD factorized Kalman filter, are compared with respect to the conventional Kalman filter and its Joseph's stabilized form. The effect of rounding errors to the Kalman filter optimality is evaluated for various lengths of the fractional part of the fixed-point computational word. Main contribution of this research lies in an evaluation of the minimal fixed-point arithmetic word length for the Phi-angle error model with noise statistics which correspond to the tactical grade inertial measurements units.

Czech abstract

Tato práce prezentuje vyšetřování možnosti použití aritmetiky s pevnou řádovou čárkou v inerciálních navigačních systémech, které používají rovnice vyjádřené v lokální navigační soustavě. Dvě odmocninové formy Kalmanova filtru, Potterův odmocninový Kalmanův filtr a UD faktorizovaný Kalmanův filtr, jsou porovnány s konvenčním Kalmanovým filtrem a jeho Josephovou stabilizovanou verzí. Efekt zaokrouhlovacích chyb na optimalitu Kalmanova filtru je vyhodnocen pro různé délky zlomkové čášti výpočetního slova pracujícího v pevné řádové čárce. Hlavní přínos této práce leží ve vyhodnocení minimální efektivní délky výpočetního slova aritmetiky v pevné řádové čárce pro chybový model Phi s uvažovanými statistikami šumu, které odpovídají kvalitě taktických inercialně měřicích jednotek.

English abstract

This paper presents an investigation of the possibility of using the fixed-point arithmetic in the inertial navigation systems which use the local level navigation frame mechanization equations. Two square root filtering methods, the Potter's square root Kalman filter and UD factorized Kalman filter, are compared with respect to the conventional Kalman filter and its Joseph's stabilized form. The effect of rounding errors to the Kalman filter optimality is evaluated for various lengths of the fractional part of the fixed-point computational word. Main contribution of this research lies in an evaluation of the minimal fixed-point arithmetic word length for the Phi-angle error model with noise statistics which correspond to the tactical grade inertial measurements units.

Keywords

Inertial navigation, multisensor data fusion, Kalman filtering, square root filtering, fixed-point arithmetics, Phi-angle error model, 15-state loosely coupled integration approach

RIV year

2013

Released

25.09.2013

Publisher

Elsevier B.V.

Location

Velké Karlovice

ISBN

9783902823533

Book

12th IFAC Conference on Programmable Devices and Embedded Systems

Pages from

262

Pages to

267

Pages count

6

BibTex


@inproceedings{BUT102051,
  author="Milan {Papež} and Petr {Pivoňka}",
  title="Numerical Aspects of Inertial Navigation",
  annote="This paper presents an investigation of the possibility of using the fixed-point
arithmetic in the inertial navigation systems which use the local level navigation frame
mechanization equations. Two square root filtering methods, the Potter's square root Kalman
filter and UD factorized Kalman filter, are compared with respect to the conventional Kalman
filter and its Joseph's stabilized form. The effect of rounding errors to the Kalman filter
optimality is evaluated for various lengths of the fractional part of the fixed-point computational
word. Main contribution of this research lies in an evaluation of the minimal fixed-point
arithmetic word length for the Phi-angle error model with noise statistics which correspond
to the tactical grade inertial measurements units.",
  address="Elsevier B.V.",
  booktitle="12th IFAC Conference on Programmable Devices and Embedded Systems",
  chapter="102051",
  howpublished="online",
  institution="Elsevier B.V.",
  number="1",
  year="2013",
  month="september",
  pages="262--267",
  publisher="Elsevier B.V.",
  type="conference paper"
}